CN110040020A - A kind of end compliant mechanism and application method based on electric automobile battery charger device people - Google Patents
A kind of end compliant mechanism and application method based on electric automobile battery charger device people Download PDFInfo
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- CN110040020A CN110040020A CN201910209702.3A CN201910209702A CN110040020A CN 110040020 A CN110040020 A CN 110040020A CN 201910209702 A CN201910209702 A CN 201910209702A CN 110040020 A CN110040020 A CN 110040020A
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- device people
- battery charger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Secondary Cells (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of end compliant mechanism and application method based on electric automobile battery charger device people, it is related to piugging technology field of automatically charging, specially a kind of end compliant mechanism based on electric automobile battery charger device people, including moving platform, the positioned beneath of the moving platform has silent flatform, pressure spring and tension spring are connected between the moving platform and silent flatform, the upper surface of the moving platform is fixed with plug interface, the top two sides of the plug are provided with guide surface, and the outer ring of the guide rod is arranged with spring.In the end compliant mechanism and application method based on electric automobile battery charger device people, end compliant mechanism structure is simple, one passive smoothing mechanism is set in electric car automatic device for charging device people end to compensate the position and attitude error of assembly, grafting success rate is greatly improved while cost is reduced, can be improved safety and operability of the user during electricity consumption.
Description
Technical field
The present invention relates to full-automatic charging piugging technology field, specially a kind of ends based on electric automobile battery charger device people
Hold compliant mechanism and application method.
Background technique
Electric car can effectively alleviating energy crisis, reduce environmental pollution, with it efficiently, energy conservation, low noise, zero-emission
The advantages that attention increasingly by national governments and enterprise, electric car is the inexorable trend of future development, with new energy
Automobile is popularized global, and basic charging corollary equipment is also in rapid growth, with the development of New Energy Industry, to electronic
The charging modes of automobile, charging safety, higher requirements are also raised for charging experience.
General charging modes need artificial grafting to complete charging, and relative to AC charging, DC charging rifle is bigger, cable
Heavier, this greatly reduces the usage experience of user, and slightly length leads to mobile inconvenience to charge cable, and charging cable is easy by tire
It squeezes, violation operation of the user to equipment, causes the corrosion of charging pipette tips, the abrasion of charging gun line insulated hull, the reaction of charging pile screen
The problems such as insensitive, causes new-energy automobile that can not charge normal or even face serious safety problem, also, if without and
When pull out charging cable and will cause increment charging, increase electric quantity consumption, it is capable for persistently promoting electrically-charging equipment safety, convenience at present
Industry is badly in need of the problem broken through.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of submissive machines in end based on electric automobile battery charger device people
Structure and application method, solve the problems mentioned above in the background art.
In order to achieve the above object, the present invention is achieved by the following technical programs: one kind being based on electric automobile battery charger
The end compliant mechanism of device people, including moving platform, the positioned beneath of the moving platform have silent flatform, the moving platform and silent flatform
Between be connected with pressure spring and tension spring, and between pressure spring and tension spring for interval setting, the upper surface of the moving platform is fixed with plug
Interface, and plug is combined with above plug interface, the top two sides of the plug are provided with guide surface, and guide surface and dynamic
Guide rod is connected between platform, the outer ring of the guide rod is arranged with spring, axially extending bore is offered on the moving platform, and
Guide rod passes through axially extending bore, and the guide rod can be moved in a straight line axially in through-hole direction, and the guide rod passes through axial
One end of through-hole is equipped with nut, and the other end of guide rod is fixedly connected with guide surface.
Optionally, the pressure spring and tension spring are isodistantly spaced about the vertical centerline of moving platform around setting, and moving platform
Elastic construction is constituted by pressure spring and tension spring between silent flatform, and the cross section of pressure spring is trapezoidal.
Optionally, the pressure spring is for providing axial deformation and tangential deformation ability, wherein the pressure spring selects rectangle bullet
Spring, material section are rectangle, and relative to common spring, Rectangular Spring material is alloy material 60Si2CrA, wherein in pressure spring
For diameter having a size of 6mm, outer diameter 12mm, initial length 60mm, compression length is 27mm, maximum compressibility 30mm, bullet
Spring constant is 4.54N/mm, and the service life is 300,000 compressible amount 30mm, 500,000 compressible amount 27mm and 1,000,000 compressible amounts
24mm。
Optionally, the tension spring for realizing the initial position of the end compliant mechanism after reset in ± 0.5 ° of cone angle,
And providing initial tensile force is stably connected with pressure spring generation initial deformation to be formed, while tension spring and pressure spring constitute variable rate spring knot
Structure, in the initial state, pressure spring rigidity is lower for the variable rate spring structure, in order to submissive deformation, under plug state, and pressure
Spring rigidity is higher, makes pressure spring that unstability not occur, wherein the internal diameter of tension spring is 5mm, and line footpath is having a size of 0.7mm, initial length
For 30mm, maximum displacement 15.6mm, spring constant 0.78N/mm, maximum load 14.71N, initial tension is
2.45N, service life are 1,000,000 times.
Optionally, linear bearing is installed inside the axially extending bore, and passes through circlip between linear bearing and moving platform
Positioning, the guide rod runs through from linear bearing, and guide rod moves in a straight line in linear bearing.
Optionally, the spring is used to provide the deformability that guide rod floats axial one-dimensional, and guide rod is enable to reset,
Wherein, the internal diameter of spring is 6mm, and outer diameter 9.8mm, line footpath is having a size of 0.9mm, initial length 70mm, compression
Length is 28.8mm, maximum compressibility 42mm, spring constant 0.29N/mm, and maximum load 12.36N, the service life is 1,000,000
It is secondary.
Optionally, the both ends of the spring are separately fixed on guide surface and moving platform, and guide rod and spring are being led
Three groups are equidistantly positioned to the lower surface in face, and guide surface is in gradient semicircular arc structure.
Optionally, the guide surface, spring and guide post group are mainly used for realizing socket and plug at floating guiding mechanism
Between pose deviation correction.
Based on above structure, the present invention also provides a kind of making for end compliant mechanism based on electric automobile battery charger device people
With method, in the described application method, detailed process is as follows for the grafting of end compliant mechanism:
(1) pose of identification electric car cradle in space；
(2) charging robot end is moved in front of socket；
(3) charging Robot socket axial direction low speed feeding；
(4) compliant mechanism guide surface and female contact；
(5) robot is constantly fed, and spring and guide rod compress, while deformation occurs with tension spring for pressure spring, compliant mechanism quilt
It is dynamic to occur in spin, yaw, the rotation of pitch angle, until guide surface gradually encases charging socket；
(6) charging robot continues to feed, until charging head is fully inserted into charging socket, completes grafting movement.
The present invention provides a kind of end compliant mechanism and application method based on electric automobile battery charger device people, have with
Down the utility model has the advantages that being somebody's turn to do the end compliant mechanism based on electric automobile battery charger device people, structure is simple, automatically fills in electric car
A passive smoothing mechanism is arranged to compensate the position and attitude error of assembly in electric machine people end, greatly improves while cost is reduced
Grafting success rate can be improved safety and operability of the user during electricity consumption；Due to cost considerations, the present invention uses
Passive compliance is arranged a passive smoothing mechanism in mechanical arm tail end to compensate the position and attitude error of assembly, is reducing the same of cost
When, grafting success rate is greatly improved, passive smoothing mechanism can reduce the required precision of automatic device for charging device people's system, and mention
The grafting success rate for rising charging interface can speed up universal complete motor-driven charging robot in the popularization in new energy market in this way.
Detailed description of the invention
Fig. 1 is compliant mechanism structural schematic diagram in end of the present invention；
Fig. 2 is the realization structural schematic diagram of Stewart parallel institution 6 DOF of the present invention movement；
Fig. 3 is the operation principle schematic diagram of end compliant mechanism of the present invention；
Fig. 4 is grafting flow diagram of the present invention.
In figure: 1, moving platform；2, silent flatform；3, pressure spring；4, tension spring；5, plug interface；6, plug；7, guide surface；8, it leads
To bar；9, spring；10, axially extending bore；11, linear bearing；12, circlip.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary.For this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
The present invention provides a kind of technical solution referring to FIG. 1 to FIG. 4: a kind of end based on electric automobile battery charger device people
Compliant mechanism, including moving platform 1, the positioned beneath of moving platform 1 is held to have silent flatform 2, be connected between moving platform 1 and silent flatform 2
Pressure spring 3 and tension spring 4, and guaranteeing angle of oscillation between pressure spring 3 and tension spring 4 for interval setting, spaced apart pressure spring 3 and tension spring 4
Under the premise of degree, facilitates device reduction initial position, reduce and generate tired bring deviation after working repeatedly because of pressure spring 3；
The upper surface of moving platform 1 is fixed with plug interface 5, and the top of plug interface 5 is combined with plug 6, plug 6 it is upper
Square two sides are provided with guide surface 7, and guide rod 8 is connected between guide surface 7 and moving platform 1, and the outer ring of guide rod 8 is arranged with
Spring 9, spring 9 enable guide rod 8 to reset, design requirement for providing the deformability that guide rod 8 floats axial one-dimensional
Range demands when electrical connection need to be met for decrement, and there is original state stronger rigidity to guarantee guide surface 7 and socket
Well contact guiding, wherein the internal diameter of spring 9 is 6mm, and outer diameter 9.8mm, line footpath is having a size of 0.9mm, initial length
Degree is 70mm, and compression length is 28.8mm, maximum compressibility 42mm, spring constant 0.29N/mm, and maximum load is
12.36N, service life are 1,000,000 times；
Axially extending bore 10 is offered on moving platform 1, and guide rod 8 passes through axially extending bore 10, guide rod 8 can axially lead to
10 direction of hole moves in a straight line, guide rod 8 pass through axially extending bore 10 one end be equipped with nut, and the other end of guide rod 8 with lead
It is fixedly connected to face 7, linear bearing 11 is installed, and pass through card between linear bearing 11 and moving platform 1 inside axially extending bore 10
Spring 12 positions, and guide rod 8 runs through from linear bearing 11, and guide rod 8 moves in a straight line in linear bearing 11, and effect is to make
It is more smooth to obtain the movement of guide rod 8, prevents 8 contact engaging and separating force of guide rod excessive or even stuck；
Pressure spring 3 and tension spring 4 are isodistantly spaced about the vertical centerline of moving platform 1 around setting, and moving platform 1 and silent flatform
Elastic construction is constituted by pressure spring 3 and tension spring 4 between 2, and the cross section of pressure spring 3 be it is trapezoidal, pressure spring 3 is for providing axial change
Shape and tangential deformation ability, wherein pressure spring 3 selects Rectangular Spring, and material section is rectangle, relative to common spring, rectangle
Spring materials are alloy material 60Si2CrA, wherein 3 internal diameter of pressure spring is 6mm, outer diameter 12mm, and initial length is
60mm, compression length are 27mm, maximum compressibility 30mm, spring constant 4.54N/mm, and the service life is 300,000 compressible amounts
30mm, 500,000 compressible amount 27mm and 1,000,000 compressible amount 24mm, tension spring 4 is for realizing the submissive machine in the end after reset
The initial position of structure is in ± 0.5 ° of cone angle, and providing initial tensile force is stably connected with the generation of pressure spring 3 initial deformation to be formed, together
When tension spring 4 and pressure spring 3 constitute variable rate spring structure, in the initial state, 3 rigidity of pressure spring is lower for variable rate spring structure, with
Convenient for submissive deformation, under plug state, 3 rigidity of pressure spring is higher, makes pressure spring 3 that unstability not occur, wherein the internal diameter ruler of tension spring 4
Very little is 5mm, line footpath having a size of 0.7mm, initial length 30mm, maximum displacement 15.6mm, spring constant 0.78N/mm,
Maximum load is 14.71N, and initial tension 2.45N, the service life is 1,000,000 times；
The both ends of spring 9 are separately fixed on guide surface 7 and moving platform 1, and guide rod 8 and spring 9 are in guide surface 7
Lower surface is equidistantly positioned three groups, and guide surface 7 is in gradient semicircular arc structure, guide surface 7, spring 9 and guiding
Bar 8 forms floating guiding mechanism, is mainly used for realizing the correction of pose deviation between socket and plug 6；
Based on above structure, the present invention also provides a kind of making for end compliant mechanism based on electric automobile battery charger device people
With method, in the application method, detailed process is as follows for the grafting of end compliant mechanism:
(1) pose of identification electric car cradle in space；
(2) charging robot end is moved in front of socket；
(3) charging Robot socket axial direction low speed feeding；
(4) compliant mechanism guide surface and female contact；
(5) robot is constantly fed, and spring and guide rod compress, while deformation occurs with tension spring for pressure spring, compliant mechanism quilt
It is dynamic to occur in spin, yaw, the rotation of pitch angle, until guide surface gradually encases charging socket；
(6) charging robot continues to feed, until charging head is fully inserted into charging socket, completes grafting movement；
End compliant mechanism uses the Stewart parallel institution configuration based on elastic element, to realize end six degree of freedom
The miniaturization of compliant mechanism and densification, Stewart parallel institution are 6-SPS type parallel institutions, each branch both ends is ball
Pair, centre are prismatic pair, and end movement feature is 6 freedom degrees, the rotation of translation and three axis including three axis, and end is submissive
The course of work of mechanism is, using the linear motion of each moving lever of axial deformation analog Stewart parallel institution of pressure spring 3,
The sextuple movement for realizing end compliant mechanism moving platform 1, can enhance the tangential of compliant mechanism also with the tangential deformation of pressure spring 3
Submissive ability.
In conclusion end compliant mechanism and application method based on electric automobile battery charger device people are somebody's turn to do, for cost
Consider, using passive compliance, one passive smoothing mechanism is set to compensate the position and attitude error of assembly in mechanical arm tail end, is being reduced
Grafting success rate is greatly improved while cost；
End compliant mechanism described in the present invention is used for the elimination of end pose deviation, realizes robot end mechanism
Passive compliance, therefore theoretically end compliant mechanism need to have six-freedom degree, in order to realize the submissive machine of end six degree of freedom
The miniaturization of structure and densification, compliant mechanism use the Stewart parallel institution configuration based on elastic element, and Stewart is in parallel
Mechanism is 6-SPS type parallel institution, each branch both ends is ball pair, and centre is prismatic pair, as shown in Fig. 2, its end movement
Feature is 6 freedom degrees, the rotation of translation and three axis including three axis；
The working principle of end compliant mechanism is as shown in figure 3, the axial deformation analog Stewart using pressure spring 3 is in parallel
The linear motion of each moving lever of mechanism realizes the sextuple movement of end compliant mechanism moving platform 1, also with cutting for pressure spring 3
The tangential submissive ability of compliant mechanism can be enhanced to deformation；
The composition of end compliant mechanism as shown in Figure 1, end compliant mechanism body portion by silent flatform 2, moving platform 1, pressure
Spring 3 forms, and plug 6 is installed on moving platform 1, and the floating of plug 6, moving platform 1 can be realized in the case where the contact of external force
It is arranged between silent flatform 2 and wants tension spring 4 more, for realizing initial position after reset in ± 0.5 ° of cone angle, in moving platform 1
Top arranges floating guiding mechanism, is made of guide surface 7, spring 9, guide rod 8, be mainly used for realizing socket and plug 6 it
Between pose deviation correction.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of end compliant mechanism based on electric automobile battery charger device people, including moving platform (1), it is characterised in that: described
The positioned beneath of moving platform (1) has silent flatform (2), and pressure spring (3) is connected between the moving platform (1) and silent flatform (2) and is drawn
Spring (4), and be interval setting between pressure spring (3) and tension spring (4), the upper surface of the moving platform (1) is fixed with plug interface
(5), it and above plug interface (5) being combined with plug (6), the top two sides of the plug (6) are provided with guide surface (7),
And guide rod (8) are connected between guide surface (7) and moving platform (1), the outer ring of the guide rod (8) is arranged with spring (9), institute
It states and is offered on moving platform (1) axially extending bore (10), and guide rod (8) passes through axially extending bore (10), the guide rod (8) can edge
Axially extending bore (10) direction move in a straight line, one end that the guide rod (8) passes through axially extending bore (10) is equipped with nut, and leads
It is fixedly connected to the other end of bar (8) with guide surface (7).
2. a kind of end compliant mechanism based on electric automobile battery charger device people according to claim 1, it is characterised in that:
The pressure spring (3) and tension spring (4) are isodistantly spaced about the vertical centerline of moving platform (1) around setting, and moving platform (1) with it is quiet
Elastic construction is constituted by pressure spring (3) and tension spring (4) between platform (2), and the cross section of pressure spring (3) is trapezoidal.
3. a kind of end compliant mechanism based on electric automobile battery charger device people according to claim 1, it is characterised in that:
The pressure spring (3) is for providing axial deformation and tangential deformation ability, wherein the pressure spring (3) selects Rectangular Spring, material
Section is rectangle, and relative to common spring, Rectangular Spring material is alloy material 60Si2CrA, wherein pressure spring (3) internal diameter
For 6mm, outer diameter 12mm, initial length 60mm, compression length is 27mm, maximum compressibility 30mm, spring constant
For 4.54N/mm, the service life is 300,000 compressible amount 30mm, 500,000 compressible amount 27mm and 1,000,000 compressible amount 24mm.
4. a kind of end compliant mechanism based on electric automobile battery charger device people according to claim 1, it is characterised in that:
The tension spring (4) for realizing the end compliant mechanism after reset initial position in ± 0.5 ° of cone angle, and provide initial draw
Power is stably connected with pressure spring (3) generation initial deformation to be formed, while tension spring (4) and pressure spring (3) constitute variable rate spring structure,
In the initial state, pressure spring (3) rigidity is lower for the variable rate spring structure, in order to submissive deformation, under plug state, and pressure
Spring (3) rigidity is higher, makes pressure spring (3) that unstability not occur, wherein the internal diameter of tension spring (4) be 5mm, line footpath having a size of
0.7mm, initial length 30mm, maximum displacement 15.6mm, spring constant 0.78N/mm, maximum load 14.71N,
Initial tension is 2.45N, and the service life is 1,000,000 times.
5. a kind of end compliant mechanism based on electric automobile battery charger device people according to claim 1, it is characterised in that:
It is equipped with linear bearing (11) inside the axially extending bore (10), and passes through circlip between linear bearing (11) and moving platform (1)
(12) it positions, the guide rod (8) is run through from linear bearing (11), and guide rod (8) does straight line in linear bearing (11)
Movement.
6. a kind of end compliant mechanism based on electric automobile battery charger device people according to claim 1, it is characterised in that:
The spring (9) is used to provide the deformability that guide rod (8) float axial one-dimensional, reset guide rod (8) can, wherein
The internal diameter of spring (9) is 6mm, and outer diameter 9.8mm, line footpath is having a size of 0.9mm, initial length 70mm, compression length
Degree is 28.8mm, maximum compressibility 42mm, spring constant 0.29N/mm, and maximum load 12.36N, the service life is 1,000,000
It is secondary.
7. a kind of end compliant mechanism based on electric automobile battery charger device people according to claim 1, it is characterised in that:
The both ends of the spring (9) are separately fixed on guide surface (7) and moving platform (1), and guide rod (8) and spring (9) are being led
Three groups are equidistantly positioned to the lower surface of face (7), and guide surface (7) is in gradient semicircular arc structure.
8. a kind of end compliant mechanism based on electric automobile battery charger device people according to claim 7, it is characterised in that:
The guide surface (7), spring (9) and guide rod (8) form floating guiding mechanism, be mainly used for realizing socket and plug (6) it
Between pose deviation correction.
9. a kind of application method of the end compliant mechanism based on electric automobile battery charger device people, it is characterised in that: described this makes
With in method, detailed process is as follows for the grafting of end compliant mechanism:
(1) pose of identification electric car cradle in space；
(2) charging robot end is moved in front of socket；
(3) charging Robot socket axial direction low speed feeding；
(4) compliant mechanism guide surface and female contact；
(5) robot is constantly fed, and spring and guide rod compress, while deformation occurs with tension spring for pressure spring, and compliant mechanism is passively sent out
Life is in spin, yaw, the rotation of pitch angle, until guide surface gradually encases charging socket；
(6) charging robot continues to feed, until charging head is fully inserted into charging socket, completes grafting movement.
10. a kind of application method of the end compliant mechanism based on electric automobile battery charger device people, it is characterised in that: should be based on electricity
Equipped with end described in any one of claim 1-9 in the application method of the end compliant mechanism of electrical automobile charging robot
Compliant mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910209702.3A CN110040020A (en) | 2019-03-19 | 2019-03-19 | A kind of end compliant mechanism and application method based on electric automobile battery charger device people |
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| CN201910209702.3A CN110040020A (en) | 2019-03-19 | 2019-03-19 | A kind of end compliant mechanism and application method based on electric automobile battery charger device people |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111619376A (en) * | 2020-05-18 | 2020-09-04 | 库卡机器人(广东)有限公司 | Flexible mechanism and charging device |
| CN111668658A (en) * | 2020-08-10 | 2020-09-15 | 大连理工江苏研究院有限公司 | Flexible charging terminal of electric automobile charging pile |
| CN112223254A (en) * | 2020-08-21 | 2021-01-15 | 南京航空航天大学 | Parallel passive compliant device |
| CN112477650A (en) * | 2020-12-04 | 2021-03-12 | 中车南京浦镇车辆有限公司 | Fill electric pile and vehicle charging system |
| CN113104172A (en) * | 2021-05-15 | 2021-07-13 | 飞马滨(青岛)智能科技有限公司 | Integrated cavitation cleaning device |
| WO2022086320A1 (en) * | 2020-10-20 | 2022-04-28 | Rocsys B.V. | Device and method for moving a connector of an electric vehicle charger |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111619376A (en) * | 2020-05-18 | 2020-09-04 | 库卡机器人(广东)有限公司 | Flexible mechanism and charging device |
| CN111668658A (en) * | 2020-08-10 | 2020-09-15 | 大连理工江苏研究院有限公司 | Flexible charging terminal of electric automobile charging pile |
| CN112223254A (en) * | 2020-08-21 | 2021-01-15 | 南京航空航天大学 | Parallel passive compliant device |
| WO2022086320A1 (en) * | 2020-10-20 | 2022-04-28 | Rocsys B.V. | Device and method for moving a connector of an electric vehicle charger |
| CN112477650A (en) * | 2020-12-04 | 2021-03-12 | 中车南京浦镇车辆有限公司 | Fill electric pile and vehicle charging system |
| CN113104172A (en) * | 2021-05-15 | 2021-07-13 | 飞马滨(青岛)智能科技有限公司 | Integrated cavitation cleaning device |
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Application publication date: 20190723 |
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